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Inertia autonomous navigation method by utilizing vehicle body non-integrity constraint

A technology of non-integrity constraints and inertial navigation, which is applied in the field of inertial autonomous navigation using the non-integrity constraints of the vehicle body, can solve the problems that the inertial navigation system cannot navigate autonomously, achieve simple and convenient implementation, overcome the accumulation of navigation errors, and improve navigation The effect of precision

Active Publication Date: 2014-04-09
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an inertial autonomous navigation method using the non-integrity constraints of the vehicle body, to solve the problem that the inertial navigation system using low-precision devices cannot navigate autonomously under motion conditions

Method used

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Embodiment Construction

[0030] An inertial autonomous navigation method using vehicle body non-integrity constraints, the specific steps are:

[0031] The first step is to build an inertial autonomous navigation system using the non-integrity constraints of the vehicle body

[0032] The inertial autonomous navigation system using the non-integrity constraints of the vehicle body includes: a three-axis silicon micro-gyroscope, a three-axis silicon micro-accelerometer, a navigation computer, an inertial navigation calculation module, a navigation correction module and a communication module. The three-axis silicon micro-gyroscope and the three-axis silicon micro-accelerometer are respectively connected with the navigation computer by SPI bus. The inertial navigation calculation module, the navigation correction module and the communication module are respectively placed in the navigation computer.

[0033] The inertial navigation calculation module is used to use the collected angular rate and acceler...

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Abstract

The invention discloses an inertia autonomous navigation method by utilizing vehicle body non-integrity constraint. By utilizing the vehicle body non-integrity constraint in movement process, a Kalman filtering observation equation is constructed by utilizing lateral and vertical velocity accumulation output by a smooth inertia autonomous navigation system; and the Kalman filtering equation is utilized for periodically calculating navigation parameter error of a carrier vehicle and correcting navigation parameters, so that the autonomous navigation of the inertial navigation system by utilizing vehicle body non-integrity constraint is realized. The inertia autonomous navigation method helps to effectively solve the problem that the autonomous navigation precision of the inertial navigation system is divergent and effectively guarantee the precision of inertia positioning orientation equipment. The method is convenient to use and no extra auxiliary equipment is needed.

Description

technical field [0001] The invention relates to an inertial autonomous navigation method, in particular to an inertial autonomous navigation method using vehicle body non-integrity constraints. Background technique [0002] The inertial navigation system is a navigation system that directly uses the measurement information of inertial devices (gyroscope and accelerometer) to establish a direction reference, and automatically completes the calculation through the acceleration information, so as to obtain the instantaneous speed and position of the vehicle. The inertial navigation system has the characteristics of complete autonomy and is widely used in land, sea, air and space fields. Due to the random drift of inertial devices, inertial navigation systems have the characteristic of orientation and positioning errors increasing with time. For low-precision devices (such as MEMS), the characteristic of its positioning and orientation error increasing with time is particularly...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 高文劭
Owner BEIJING MECHANICAL EQUIP INST